Obbart/universal_robots_ros_driver
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Code Releases Activity

Removed potential deadlock

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Thomas Timm Andersen
2015-09-08 12:40:35 +02:00
parent 401a16fbd4 1ef0a97d23
commit 17296c4e6b
2 changed files with 7 additions and 0 deletions
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1
include/ur_modern_driver/robot_state_RT.h
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@@ -64,6 +64,7 @@ private:
public: public:
RobotStateRT(std::condition_variable& msg_cond); RobotStateRT(std::condition_variable& msg_cond);
~RobotStateRT();
double getVersion(); double getVersion();
double getTime(); double getTime();
std::vector<double> getQTarget(); std::vector<double> getQTarget();

6
src/robot_state_RT.cpp
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@@ -45,6 +45,12 @@ RobotStateRT::RobotStateRT(std::condition_variable& msg_cond) {
pMsg_cond_ = &msg_cond; pMsg_cond_ = &msg_cond;
} }
RobotStateRT::~RobotStateRT() {
/* Make sure nobody is waiting after this thread is destroyed */
new_data_available_ = true;
pMsg_cond_->notify_all();
}
bool RobotStateRT::getNewDataAvailable() { bool RobotStateRT::getNewDataAvailable() {
return new_data_available_; return new_data_available_;
} }